This book shows how far from our time Empson is--a collection in which the annotations are 3 times the number of pages of the poems---how overscholarly!, we might judge, how nicer to be more spontaneous, direct.
But if you don't mind being challenged in your norms, try a poet whose lines take you on the adventurous ride of one of the most complex minds you can encounter in poetry.
Representative is "Dissatisfaction with Methaphysics," which begins with the floating corpse of Mahomet, tells how it lies on earth's elliptic orbit surrounded by "epicycles" (Ptolemaic, the notes tell us), then how we may descend from Adam & Eve's incest. The lengthy annotations certainly don't wrap up all the meanings, but give further associations to ideas of Empson and others which, in turn, may stimulate the reader to have another go at the poem's fascinations. I would not have picked up, without the notes, the subtle variations of the poem's apparently conventional form. And I'm still not sure what it all means.
If you've had the pleasure of hearing Empson recite, on a recording, one of his villanelles, you'll have an additional appreciation.